System Design and Dynamic Walking of Humanoid Robot KHR-2
Abstract
In this paper, we describe the mechanical design, system integration and dynamic walking of the humanoid, KHR-2 (KAIST Humanoid Robot?). KHR-2 has 41 DOFs in total, that allows it to imitate various human-like motions. To control all joint axes effectively, the distributed control architecture is used, which reduces computation burden on the main controller, and allows convenient system. A servo motor controller was used as the sub-controller, whereas a 3-axis force/torque sensor and an inertia sensor were used in the sensory system. The main controller attached on the back of KHR-2 communicates with the sub-controllers in real-time through CAN (Controller Area Network) protocol. Windows XP was used as the operation system, whereas RTX HAL extension commercial software was used to realize the real-time control capability in Windows environment. We define the walking pattern and describe several online controllers in each stage. Some of the experimental results of KHR-2 are also presented.
BibTeX
@conference{Kim-2005-9182,author = {Jung-Yup Kim and Ill-Woo Park and Jungho Lee and Min Su Kim and Baek Kyu Cho and Jun-Ho Oh},
title = {System Design and Dynamic Walking of Humanoid Robot KHR-2},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2005},
month = {April},
pages = {1443 - 1448},
}